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<div class="title">obj_io.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2013, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef OBJ_IO_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define OBJ_IO_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/TextureMesh.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/PolygonMesh.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/io/file_io.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html">   46</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_m_t_l_reader.html">MTLReader</a></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#a8bf80c234bbcdc338f4d7ee5827d65e3">   50</a></span>&#160;      <a class="code" href="classpcl_1_1_m_t_l_reader.html#a8bf80c234bbcdc338f4d7ee5827d65e3">MTLReader</a> ();</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#a080a16baad8d7e11d61eb54a800dc26a">   53</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_m_t_l_reader.html#a080a16baad8d7e11d61eb54a800dc26a">~MTLReader</a>() {}</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#a38377772d23a894bda88389a2d3b1ed4">   60</a></span>&#160;      <a class="code" href="classpcl_1_1_m_t_l_reader.html#a38377772d23a894bda88389a2d3b1ed4">read</a> (<span class="keyword">const</span> std::string&amp; filename);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#ad71cc8087f8f9ccf5e262341ff26dacc">   68</a></span>&#160;      <a class="code" href="classpcl_1_1_m_t_l_reader.html#ad71cc8087f8f9ccf5e262341ff26dacc">read</a> (<span class="keyword">const</span> std::string&amp; obj_file_name, <span class="keyword">const</span> std::string&amp; mtl_file_name);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      std::vector&lt;pcl::TexMaterial&gt;::const_iterator</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      getMaterial (<span class="keyword">const</span> std::string&amp; material_name) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#a9245ad5594ef3c563c8b8a863d5d6a3d">   74</a></span>&#160;      std::vector&lt;pcl::TexMaterial&gt; <a class="code" href="classpcl_1_1_m_t_l_reader.html#a9245ad5594ef3c563c8b8a863d5d6a3d">materials_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#a50088d84e51901365e4b6b825cf7a613">   79</a></span>&#160;      <a class="code" href="classpcl_1_1_m_t_l_reader.html#a50088d84e51901365e4b6b825cf7a613">cie2rgb</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; xyz, <a class="code" href="structpcl_1_1_tex_material_1_1_r_g_b.html">pcl::TexMaterial::RGB</a>&amp; rgb) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#a6d0444de0edcd49d7a9a4b29ebefd0b5">   82</a></span>&#160;      <a class="code" href="classpcl_1_1_m_t_l_reader.html#a6d0444de0edcd49d7a9a4b29ebefd0b5">fillRGBfromXYZ</a> (<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; split_line, <a class="code" href="structpcl_1_1_tex_material_1_1_r_g_b.html">pcl::TexMaterial::RGB</a>&amp; rgb);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#a13a47926d9ede213fae9396d71ec806e">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_m_t_l_reader.html#a13a47926d9ede213fae9396d71ec806e">fillRGBfromRGB</a> (<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; split_line, <a class="code" href="structpcl_1_1_tex_material_1_1_r_g_b.html">pcl::TexMaterial::RGB</a>&amp; rgb);</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_m_t_l_reader.html#a0412da91bda7cc153c999f9cec3220ab">   87</a></span>&#160;      Eigen::Matrix3f <a class="code" href="classpcl_1_1_m_t_l_reader.html#a0412da91bda7cc153c999f9cec3220ab">xyz_to_rgb_matrix_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  };</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html">   92</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_o_b_j_reader.html">OBJReader</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_file_reader.html">FileReader</a></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#ae68a94e26cb977d0835e95c791c8cdfd">   96</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#ae68a94e26cb977d0835e95c791c8cdfd">OBJReader</a>() {}</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#abe5346b681524fc087f83192806365cf">   98</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_o_b_j_reader.html#abe5346b681524fc087f83192806365cf">~OBJReader</a>() {}</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#ac74ef564c71d1b55f7398ce89d126b88">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#ac74ef564c71d1b55f7398ce89d126b88">readHeader</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                  Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation,</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                  <span class="keywordtype">int</span> &amp;file_version, <span class="keywordtype">int</span> &amp;data_type, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &amp;data_idx,</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">int</span> offset);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#a5e02df32b116e98a4c9fd535345067c0">  142</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#a5e02df32b116e98a4c9fd535345067c0">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation,</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <span class="keywordtype">int</span> &amp;file_version, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#aa9d1d6d7661f28f033a3e5a1ab9430be">  160</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#aa9d1d6d7661f28f033a3e5a1ab9430be">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#aa3d0a983eeff436bc23c7356b3a21613">  175</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#aa3d0a983eeff436bc23c7356b3a21613">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;mesh,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation,</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            <span class="keywordtype">int</span> &amp;file_version, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#adcfc247dab6a1a1a752c8bf0c7e016e4">  189</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#adcfc247dab6a1a1a752c8bf0c7e016e4">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;mesh, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#aa59a16ff947cc6198b51d0a201066236">  204</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#aa59a16ff947cc6198b51d0a201066236">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;mesh,</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation,</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            <span class="keywordtype">int</span> &amp;file_version, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#ac090dfc2580c99935f55a5063ca133a1">  218</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#ac090dfc2580c99935f55a5063ca133a1">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;mesh, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#acd864b13e7a06cc30306059f462353c8">  231</a></span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html#acd864b13e7a06cc30306059f462353c8">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span> offset  =0)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keywordtype">int</span> file_version;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keywordtype">int</span> res = read (file_name, blob, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>,</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                        file_version, offset);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordflow">if</span> (res &lt; 0)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <span class="keywordflow">return</span> (res);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        pcl::fromPCLPointCloud2 (blob, cloud);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_b_j_reader.html#a7c43cc6d3228da2193c784d1efaf5e77">  247</a></span>&#160;      std::vector&lt;pcl::MTLReader&gt; <a class="code" href="classpcl_1_1_o_b_j_reader.html#a7c43cc6d3228da2193c784d1efaf5e77">companions_</a>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  };</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    loadOBJFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                 Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html">pcl::OBJReader</a> p;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <span class="keywordtype">int</span> obj_version;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, cloud, origin, orientation, obj_version));</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    loadOBJFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html">pcl::OBJReader</a> p;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, cloud));</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    loadOBJFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html">pcl::OBJReader</a> p;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, cloud));</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    loadOBJFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;mesh)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html">pcl::OBJReader</a> p;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, mesh));</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    loadOBJFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;mesh)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <a class="code" href="classpcl_1_1_o_b_j_reader.html">pcl::OBJReader</a> p;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, mesh));</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    PCL_EXPORTS <span class="keywordtype">int</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    saveOBJFile (<span class="keyword">const</span> std::string &amp;file_name,</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;                 <span class="keyword">const</span> <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh,</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                 <span class="keywordtype">unsigned</span> precision = 5);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    PCL_EXPORTS <span class="keywordtype">int</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    saveOBJFile (<span class="keyword">const</span> std::string &amp;file_name,</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                 <span class="keyword">const</span> <a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;mesh,</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                 <span class="keywordtype">unsigned</span> precision = 5);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;}</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* OBJ_IO_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html"><div class="ttname"><a href="classpcl_1_1_file_reader.html">pcl::FileReader</a></div><div class="ttdoc">Point Cloud Data (FILE) file format reader interface. Any (FILE) format file reader should implement ...</div><div class="ttdef"><b>Definition:</b> file_io.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html">pcl::MTLReader</a></div><div class="ttdef"><b>Definition:</b> obj_io.h:47</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_a0412da91bda7cc153c999f9cec3220ab"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#a0412da91bda7cc153c999f9cec3220ab">pcl::MTLReader::xyz_to_rgb_matrix_</a></div><div class="ttdeci">Eigen::Matrix3f xyz_to_rgb_matrix_</div><div class="ttdoc">matrix to convert CIE to RGB</div><div class="ttdef"><b>Definition:</b> obj_io.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_a080a16baad8d7e11d61eb54a800dc26a"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#a080a16baad8d7e11d61eb54a800dc26a">pcl::MTLReader::~MTLReader</a></div><div class="ttdeci">virtual ~MTLReader()</div><div class="ttdoc">empty destructor</div><div class="ttdef"><b>Definition:</b> obj_io.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_a13a47926d9ede213fae9396d71ec806e"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#a13a47926d9ede213fae9396d71ec806e">pcl::MTLReader::fillRGBfromRGB</a></div><div class="ttdeci">int fillRGBfromRGB(const std::vector&lt; std::string &gt; &amp;split_line, pcl::TexMaterial::RGB &amp;rgb)</div><div class="ttdoc">fill a pcl::TexMaterial::RGB from a split line containing r g b values</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_a38377772d23a894bda88389a2d3b1ed4"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#a38377772d23a894bda88389a2d3b1ed4">pcl::MTLReader::read</a></div><div class="ttdeci">int read(const std::string &amp;filename)</div><div class="ttdoc">Read a MTL file given its full path.</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_a50088d84e51901365e4b6b825cf7a613"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#a50088d84e51901365e4b6b825cf7a613">pcl::MTLReader::cie2rgb</a></div><div class="ttdeci">void cie2rgb(const Eigen::Vector3f &amp;xyz, pcl::TexMaterial::RGB &amp;rgb) const</div><div class="ttdoc">converts CIE XYZ to RGB</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_a6d0444de0edcd49d7a9a4b29ebefd0b5"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#a6d0444de0edcd49d7a9a4b29ebefd0b5">pcl::MTLReader::fillRGBfromXYZ</a></div><div class="ttdeci">int fillRGBfromXYZ(const std::vector&lt; std::string &gt; &amp;split_line, pcl::TexMaterial::RGB &amp;rgb)</div><div class="ttdoc">fill a pcl::TexMaterial::RGB from a split line containing CIE x y z values</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_a8bf80c234bbcdc338f4d7ee5827d65e3"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#a8bf80c234bbcdc338f4d7ee5827d65e3">pcl::MTLReader::MTLReader</a></div><div class="ttdeci">MTLReader()</div><div class="ttdoc">empty constructor</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_a9245ad5594ef3c563c8b8a863d5d6a3d"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#a9245ad5594ef3c563c8b8a863d5d6a3d">pcl::MTLReader::materials_</a></div><div class="ttdeci">std::vector&lt; pcl::TexMaterial &gt; materials_</div><div class="ttdoc">materials array</div><div class="ttdef"><b>Definition:</b> obj_io.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1_m_t_l_reader_html_ad71cc8087f8f9ccf5e262341ff26dacc"><div class="ttname"><a href="classpcl_1_1_m_t_l_reader.html#ad71cc8087f8f9ccf5e262341ff26dacc">pcl::MTLReader::read</a></div><div class="ttdeci">int read(const std::string &amp;obj_file_name, const std::string &amp;mtl_file_name)</div><div class="ttdoc">Read a MTL file given an OBJ file full path and the MTL file name.</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html">pcl::OBJReader</a></div><div class="ttdef"><b>Definition:</b> obj_io.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_a5e02df32b116e98a4c9fd535345067c0"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#a5e02df32b116e98a4c9fd535345067c0">pcl::OBJReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_a7c43cc6d3228da2193c784d1efaf5e77"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#a7c43cc6d3228da2193c784d1efaf5e77">pcl::OBJReader::companions_</a></div><div class="ttdeci">std::vector&lt; pcl::MTLReader &gt; companions_</div><div class="ttdoc">Usually OBJ files come MTL files where texture materials are stored</div><div class="ttdef"><b>Definition:</b> obj_io.h:247</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_aa3d0a983eeff436bc23c7356b3a21613"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#aa3d0a983eeff436bc23c7356b3a21613">pcl::OBJReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::TextureMesh &amp;mesh, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/TextureMesh.</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_aa59a16ff947cc6198b51d0a201066236"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#aa59a16ff947cc6198b51d0a201066236">pcl::OBJReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PolygonMesh &amp;mesh, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PolygonMesh.</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_aa9d1d6d7661f28f033a3e5a1ab9430be"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#aa9d1d6d7661f28f033a3e5a1ab9430be">pcl::OBJReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_abe5346b681524fc087f83192806365cf"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#abe5346b681524fc087f83192806365cf">pcl::OBJReader::~OBJReader</a></div><div class="ttdeci">virtual ~OBJReader()</div><div class="ttdoc">empty destructor</div><div class="ttdef"><b>Definition:</b> obj_io.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_ac090dfc2580c99935f55a5063ca133a1"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#ac090dfc2580c99935f55a5063ca133a1">pcl::OBJReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PolygonMesh &amp;mesh, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PolygonMesh.</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_ac74ef564c71d1b55f7398ce89d126b88"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#ac74ef564c71d1b55f7398ce89d126b88">pcl::OBJReader::readHeader</a></div><div class="ttdeci">int readHeader(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, int &amp;data_type, unsigned int &amp;data_idx, const int offset)</div><div class="ttdoc">Read a point cloud data header from a FILE file.</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_acd864b13e7a06cc30306059f462353c8"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#acd864b13e7a06cc30306059f462353c8">pcl::OBJReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PointCloud&lt; PointT &gt; &amp;cloud, const int offset=0)</div><div class="ttdoc">Read a point cloud data from any FILE file, and convert it to the given template format.</div><div class="ttdef"><b>Definition:</b> obj_io.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_adcfc247dab6a1a1a752c8bf0c7e016e4"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#adcfc247dab6a1a1a752c8bf0c7e016e4">pcl::OBJReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::TextureMesh &amp;mesh, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/TextureMesh.</div></div>
<div class="ttc" id="aclasspcl_1_1_o_b_j_reader_html_ae68a94e26cb977d0835e95c791c8cdfd"><div class="ttname"><a href="classpcl_1_1_o_b_j_reader.html#ae68a94e26cb977d0835e95c791c8cdfd">pcl::OBJReader::OBJReader</a></div><div class="ttdeci">OBJReader()</div><div class="ttdoc">empty constructor</div><div class="ttdef"><b>Definition:</b> obj_io.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
<div class="ttc" id="astructpcl_1_1_tex_material_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_tex_material_1_1_r_g_b.html">pcl::TexMaterial::RGB</a></div><div class="ttdef"><b>Definition:</b> TextureMesh.h:55</div></div>
<div class="ttc" id="astructpcl_1_1_texture_mesh_html"><div class="ttname"><a href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a></div><div class="ttdef"><b>Definition:</b> TextureMesh.h:92</div></div>
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